Drill floor surface pipe column processing equipment

Abstract

The invention discloses drill floor face pipe column processing equipment which comprises a clamping mechanism used for clamping a pipe column and is characterized by further comprising a walking mechanism which is used for being installed on a drill floor face and translating on the drill floor face; the lifting mechanism is installed on the walking mechanism, the lifting mechanism is connected with the clamping mechanism, and the lifting mechanism is configured to be capable of adjusting the height of the clamping mechanism; wherein after the pipe column is clamped and fixed by the clamping mechanism, the lifting mechanism can drive the clamping mechanism and the pipe column to move upwards or downwards and bear the weight of the pipe column, so that the weight of the whole pipe column is completely borne on a drill floor surface. According to the drill floor face pipe column processing equipment, the overall height can be adjusted when a drill floor face mechanical arm clamps a pipe column so that the drill floor face pipe column processing equipment can adapt to clamping positions of different heights. The clamping mechanism can be used for clamping the pipe column, the problem that a grabbing and lifting mechanical arm installed on a derrick greatly influences the derrick structure is solved, and the acting force generated by pushing and supporting of the pipe column on the whole structure is reduced.

Description

[0001] This application is a divisional application of application number CN202010803809.3, filed on August 11, 2020, entitled "Drilling Platform Tube String Processing Equipment". Technical Field

[0002] This invention relates to the field of oil and gas drilling and production equipment, specifically a drilling platform tubing handling device, and more particularly a drilling platform robot. Background Technology

[0003] With rising labor costs and increasingly stringent requirements for operational safety and environmental protection, wellhead automation and unmanned operation have become the development trend of oilfield equipment. Simultaneously, as drilling depth increases, the workload of workers also increases accordingly. The use of automated equipment replaces on-drill-face operators in handling the tubing string between the wellhead and the pipe rack, and can also assist drillers in centering the tubing string during drilling operations. This improves drilling efficiency and reduces workload.

[0004] A drilling rig robot is a major type of wellhead automation equipment installed on the drilling rig surface. It simulates the use of a drill rig operator to move and discharge tubing by pushing and pulling, thus automating the transfer and discharge of tubing on the drilling rig surface. This can reduce the number of drilling rig operators, reduce labor intensity, reduce operational risks, and easily handle large-diameter drill collars.

[0005] A drilling platform robot typically consists of a traveling mechanism, a telescopic mechanism, and a pipe support mechanism. The traveling mechanism is mounted on the drilling platform, the telescopic mechanism is fixed to the traveling mechanism, and the pipe support mechanism is hinged to the front end of the robot arm. When pipe needs to be moved, the traveling mechanism moves on the drilling platform, driving the telescopic mechanism and the pipe support mechanism to the pipe position. The telescopic mechanism extends its arm, bringing the pipe support mechanism closer to the pipe and finally clamping it, then pushing and moving the pipe.

[0006] Due to the complex structure of the current drilling platform, the overall height of the drilling platform robot is fixed, making it impossible to adjust the position of the pipe support mechanism holding the pipe (since the overall height of the drilling platform robot is fixed, it cannot grasp the bottom of the pipe, then lift the pipe, and then move the entire pipe). Furthermore, current drilling platform robots primarily use pipe pushing, which can cause damage to the device if the pipe touches the ground during transport. Therefore, a high degree of stability is required for the overall structure. Summary of the Invention

[0007] The purpose of this invention is to overcome the above-mentioned shortcomings in the prior art and provide a drilling platform pipe string processing device with simple structure, adjustable height, and high reliability.

[0008] The technical solution of the present invention is as follows: A drilling platform pipe string processing device includes a clamping mechanism for holding the pipe string. The device further includes a traveling mechanism comprising a track mounted on the drilling platform and a trolley on the track. The trolley is equipped with a drive mechanism that enables it to move horizontally on the track. A lifting mechanism is mounted on the trolley and connected to the clamping mechanism, configured to adjust the height of the clamping mechanism. After the clamping mechanism holds the pipe string, the lifting mechanism can move the clamping mechanism and the pipe string upwards or downwards and bear the weight of the pipe string.

[0009] Some preferred technical solutions of the present invention are as follows: Preferably, a slewing mechanism is installed between the trolley and the lifting mechanism, the slewing mechanism being configured to allow the lifting mechanism to translate along with the traveling mechanism and rotate about the vertical axis of the slewing mechanism.

[0010] Preferably, a telescopic mechanism is installed between the lifting mechanism and the clamping mechanism, which allows the clamping mechanism to move away from or closer to the lifting mechanism.

[0011] Preferably, the clamping mechanism is fixedly installed at the end of the telescopic mechanism, and a support mechanism is also hinged at the end of the telescopic mechanism.

[0012] Preferably, a buffer and ground contact detection mechanism is also installed on the support mechanism. The buffer and ground contact detection mechanism is configured to detect the position and / or load status of the clamped upright column, and determine whether the column is in contact with the platform based on the status.

[0013] Preferably, the device further includes a thread oil application device configured to apply oil to the threads of the tubing when the clamping mechanism clamps the tubing.

[0014] Preferably, the thread oil application device is mounted on the lifting device.

[0015] Preferably, when the buffer and ground contact detection mechanism determines that the clamped tube column is in contact with the platform, it controls the trolley to slow down its movement speed.

[0016] This invention also provides a method for processing drill string on a drill platform using the aforementioned drill platform string processing equipment, comprising the following steps: When a drill string needs to be transported, the traveling mechanism moves to a position near the drill string. The slewing mechanism on the traveling mechanism drives the lifting mechanism and the telescopic mechanism to deflect towards the drill string. The lifting mechanism moves appropriately up and down according to the drill string clamping position, so that the clamping device is located at the drill string clamping position. The telescopic mechanism extends its arm and moves it to the drill string, where the clamping mechanism clamps and fixes the drill string. The supporting mechanism supports the drill string. The traveling mechanism moves, and the slewing mechanism and the telescopic mechanism cooperate and move to transport the drill string to the designated position. (When the drill platform robot is not needed, the drill platform robot retracts its telescopic mechanism and moves on the traveling track, increasing the drilling platform operating space.) Compared with existing technologies, the beneficial effects of this invention are as follows: This invention provides a clamping mechanism whose overall height can be adjusted when the drilling platform manipulator clamps the tubing string to adapt to different clamping positions. The clamping mechanism can hold the tubing string, reducing the force exerted by the tubing string on the overall structure. In some preferred embodiments, a buffer and ground contact detection mechanism is also provided, which can be triggered when the tubing string is about to touch the ground, slowing down the movement speed and thus reducing structural damage caused by the tubing string touching the ground. The embodiments of this invention can solve the problem of the significant impact of the gripping manipulator installed on the derrick on the derrick structure, reducing the force exerted by the tubing string on the overall structure. Attached Figure Description

[0017] Figure 1 This is a schematic diagram of a specific embodiment of the present invention.

[0018] Figure 2 yes Figure 1 Top view of the embodiment shown.

[0019] The markings in the diagram are: 1-Traveling trolley, 2-Slewing mechanism, 3-Lifting mechanism, 4-Telescopic mechanism, 5-Supporting mechanism, 6-Clamping mechanism, 7-Buffer and ground contact detection mechanism, 8-Thread oil application device, 9-Railway. Detailed Implementation

[0020] The present invention will be further described in detail below with reference to embodiments and specific implementation methods. However, this should not be construed as limiting the scope of the above-described subject matter of the present invention to the following embodiments; all technologies implemented based on the content of the present invention fall within the scope of the present invention.

[0021] A specific embodiment of the present invention, such as Figure 1 and Figure 2As shown, a drilling platform pipe column processing device includes a traveling mechanism 1 mounted on the drilling platform. The traveling mechanism can consist of a track 9 and a traveling trolley 1. A drive mechanism drives the traveling trolley 1 to move along the track 9, ensuring the translation of the equipment. Specific drive mechanisms include gear racks, synchronous belts, and threaded pairs. A rotary mechanism 2 is mounted above the traveling mechanism 1, a lifting mechanism 3 is mounted on the rotary mechanism 2, a telescopic mechanism 4 is mounted on the lifting mechanism 3, a support mechanism 5 (forming a support component for the pipe column, which can be an arc-shaped sheet structure or a mating shape well-known in the art) is hinged to the front end of the telescopic mechanism 4, a clamping mechanism 6 is fixedly mounted on the front end of the telescopic mechanism 4, and a buffer and ground contact detection mechanism 7 is mounted on the support mechanism 5. The lifting mechanism 3 can drive the telescopic mechanism 4 and its front-end support mechanism 5 and clamping mechanism 6 to move up and down. Specific lifting mechanisms 3 can include, for example, hydraulic cylinders, electric cylinders, wire ropes, chains, etc., mounted on a support column, thereby driving the telescopic mechanism 4 to move up and down. The lifting mechanism can also be a telescopic hydraulic cylinder, with the telescopic mechanism 4 mounted on one end of the piston rod of the hydraulic cylinder.

[0022] The buffer and ground contact detection mechanism 7 uses sensors to detect information such as the weight of the clamped tubing. After ground contact, it provides feedback on changes in position and load, allowing the equipment to determine the actual condition of the tubing. The thread oil application device 8 is installed on the lifting mechanism 3 and is used to apply oil to the threads.

[0023] When the drill string needs to be transported on the drilling platform, the traveling trolley 1 drives the rotary mechanism 2, lifting mechanism 3, and telescopic mechanism 4 to travel on the track 9 and deflect towards the drill string. The telescopic mechanism 4 extends its arm, moving the front support mechanism 5 to the drill string. The clamping mechanism 6 clamps the drill string, the lifting mechanism 3 lifts it appropriately, and the telescopic mechanism 4 extends its arm, retracting the front end to the target rotary position. Then, the rotary mechanism 2 moves to the target position. During the movement, the thread oiling device 8 applies oil to the male threads. The rotary mechanism 2 and telescopic mechanism 3 move to transport the drill string to the designated position. When the drilling platform robot is not needed, the drilling platform robot retracts the telescopic mechanism 4 and moves on the track 9 to increase the operating space on the drilling platform.

[0024] By adopting the above technical solution, a clamping and lifting mechanism can lift the tubing string off the ground, with the entire weight of the tubing string supported on the drilling platform. This minimizes modifications to the drilling rig, offers strong adaptability, improves operational efficiency, and reduces labor intensity. Each degree of freedom of the device can be equipped with a corresponding sensor, ensuring accurate real-time positioning of the delivery tubing and guaranteeing precise alignment of the drill pipe at the center of the wellbore. A clamping mechanism is added to the support mechanism, simultaneously providing tubing string support and clamping, increasing clamping stability and reducing swaying during tubing transport. Furthermore, a buffer and ground contact detection mechanism is equipped at the front end of the telescopic mechanism. This mechanism is triggered when the tubing string is about to touch the ground during transport, slowing down the movement and reducing mechanical damage caused by ground contact.

[0025] The second specific embodiment of the present invention is basically similar in structure to the first embodiment, except for the walking mechanism and the support mechanism. In this embodiment, only the clamping mechanism 6 is provided at the top of the telescopic mechanism 4, without the support structure. The vertical length of the manipulator of the clamping structure 6 is made longer to ensure stable clamping of the tubing. The function of the rotating mechanism 2 can also be replaced by the walking and turning functions of the trolley. For example, a designed trolley track or a turning mechanism at the bottom of the trolley can achieve the function of transporting the tubing to a designated position on the platform.

Claims

1. A drill string processing device, comprising a clamping mechanism for clamping the drill string, characterized in that, The equipment also includes a traveling mechanism, which includes a track mounted on the drilling platform and a trolley on the track. The trolley is equipped with a drive mechanism that drives its movement, and the trolley can translate on the track. A lifting mechanism is mounted on the trolley, the lifting mechanism is connected to the clamping mechanism, and is configured to adjust the height of the clamping mechanism; Once the clamping mechanism clamps and fixes the tubing, the lifting mechanism can move the clamping mechanism and the tubing upwards or downwards and bear the weight of the tubing, so that the entire weight of the tubing is fully supported on the drilling platform.

2. The drilling platform pipe string processing equipment according to claim 1 or 2, characterized in that: A slewing mechanism is installed between the trolley and the lifting mechanism, and the lifting mechanism rotates about the vertical axis of the slewing mechanism.

3. The drilling platform pipe string processing equipment according to claim 1, characterized in that: A telescopic mechanism is installed between the lifting mechanism and the clamping mechanism, which allows the clamping mechanism to move away from or closer to the lifting mechanism.

4. The drilling platform pipe string processing equipment according to claim 3, characterized in that: The clamping mechanism is fixedly installed at the end of the telescopic mechanism, and a support mechanism is also hinged to the end of the telescopic mechanism.

5. The drilling platform pipe string processing equipment according to claim 4, characterized in that: The support mechanism is also equipped with a buffer and ground contact detection mechanism, which is configured to detect the position and / or load status of the clamped upright column, and determine whether the column is in contact with the platform based on the status.

6. The drilling platform pipe string processing equipment according to claim 5, characterized in that: The device also includes a thread oil application device configured to apply oil to the threads of the tubing when the clamping mechanism clamps the tubing.

7. The drilling platform pipe string processing equipment according to claim 6, characterized in that: The thread oil application device is installed on the lifting device.

8. The drilling platform pipe string processing equipment according to claim 5, characterized in that: When the buffer and ground contact detection mechanism determines that the clamped tube column is in contact with the platform, it controls the trolley to slow down its movement speed.

9. A method for treating drill string on a drill platform using the drill string treatment equipment described in claim 6 or 7, characterized in that: When the tubing needs to be transported, the traveling mechanism moves to a position near the tubing. The slewing mechanism on the traveling mechanism drives the lifting mechanism and the telescopic mechanism to deflect towards the tubing. The lifting mechanism moves up and down appropriately according to the tubing clamping position, so that the clamping device is located at the tubing clamping position. The telescopic mechanism extends its arm and moves it to the tubing, where the clamping mechanism clamps and fixes the tubing. The supporting mechanism supports the tubing. The traveling mechanism moves, and the slewing mechanism and the telescopic mechanism work together to transport the tubing to the designated position.

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